Method of controlling motion of mobile warning triangle and mobile warning triangle employing method

Patent metadata

Field	Value
Publication number	US-11385652-B2
Application number	US-202017018362-A
Country	US
Kind code	B2
Filing date	Sep 11, 2020
Priority date	Nov 18, 2019
Publication date	Jul 12, 2022
Grant date	Jul 12, 2022

Abstract

A method for controlling a mobile warning triangle to move along a lane marking controls the mobile warning triangle to move forward and acquire color information of the lane marking detected by a first sensor and a second sensor of the mobile warning triangle when the mobile warning triangle is placed to allow the first sensor to detect the lane marking of the lane. The color information detected by the first sensor is recognized or not recognized as a color of the lane marking, if yes, controlling the mobile warning triangle to continue moving forward. If not recognized, determining whether the color information detected by the second sensor is the color of the lane marking and if yes, correcting a moving direction of the mobile warning triangle to a first direction by a first predetermined angle or repetitions of the predetermined angle to continue moving forward.

First claim

What is claimed is:

1. A method of controlling a mobile warning triangle, wherein the mobile warning triangle comprising a first sensor and a second sensor, the method comprising:
controlling the mobile warning triangle to move forward and acquiring first color information detected by the first sensor and second color information detected by the second sensor when the mobile warning triangle is placed on a lane and the first sensor detects a lane marking;
determining whether the first color information detected by the first sensor is a color of the lane marking;
controlling the mobile warning triangle to continue moving forward when the first color information detected by the first sensor is the color of the lane marking;
determining whether the second color information detected by the second sensor is the color of the lane marking when the first color information detected by the first sensor is not the color of the lane marking; and
correcting a moving direction of the mobile warning triangle to a first direction by a first predetermined angle to continue moving forward when the second color information detected by the second sensor is the color of the lane marking.

2. The method of claim 1 , further comprising:
correcting the moving direction of the mobile warning triangle to a second direction by a second predetermined angle to continue moving forward when the second color information detected by the second sensor is not the color of the lane marking; and
wherein an included angle between the first direction and the second direction is 180 degrees.

3. The method of claim 2 , further comprising:
performing a direction correction of a reverse mode on the mobile warning triangle when the mobile warning triangle moves a predetermined distance and the first sensor fails to detect the lane marking again; and
wherein, in the reverse mode, the current correction method of the mobile warning triangle is opposite to the last correction method.

4. The method of claim 1 , further comprising:
performing a direction correction of a reverse mode on the mobile warning triangle when the mobile warning triangle moves a predetermined distance and the first sensor fails to detect the lane marking again; and
wherein, in the reverse mode, the current correction method of the mobile warning triangle is opposite to the last correction method.

5. The method of claim 1 , wherein the mobile warning triangle further comprises a third sensor, the first sensor is arranged between the second sensor and the third sensor, the method further comprises:
determining whether third color information detected by the third sensor is the color of the lane marking when the second color information detected by the second sensor is not the color of the lane marking;
correcting a moving direction of the mobile warning triangle to a third direction by a third predetermined angle to continue moving forward when the third color information detected by the third sensor is the color of the lane marking; and
wherein an included angle between the first direction and the third direction is 180 degrees.

6. The method of claim 5 , further comprising:
controlling the mobile warning triangle to continue moving a predetermined distance and determining whether the first sensor detects the lane marking again during the predetermined distance when the third color information detected by the third sensor is not the color of the lane marking; and
controlling the mobile warning triangle to continue moving forward when the first sensor detects the lane marking again.

7. The method of claim 6 , further comprising:
controlling the mobile warning triangle to stop moving when the first sensor fails to detect the lane marking again during the predetermined distance.

8. The method of claim 7 , wherein the mobile warning triangle communicates with an application of an electronic device, the method further comprises:
controlling the mobile warning triangle or the application of the electronic device to output prompt information.

9. The method of claim 5 , further comprising:
performing a direction correction of a reverse mode on the mobile warning triangle when the mobile warning triangle moves a predetermined distance and the first sensor fails to detect the lane marking again; and
wherein, in the reverse mode, the current correction method of the mobile warning triangle is opposite to the last correction method.

10. The method of claim 1 , further comprising:
controlling the mobile warning triangle to stop moving when a moving distance of the mobile warning triangle is equal to a predetermined moving distance.

11. A mobile warning triangle comprising:
a warning triangle;
at least two wheels;
a first sensor;
a second sensor;
at least one processor; and
a storage device storing one or more programs which when executed by the at least one processor, causes the at least one processor to:
control the mobile warning triangle to move forward and acquire first color information detected by the first sensor and second color information detected by the second sensor when the mobile warning triangle is placed on a lane and the first sensor detects a lane marking;
determine whether the first color information detected by the first sensor is a color of the lane marking;
control the mobile warning triangle to continue moving forward when the first color information detected by the first sensor is the color of the lane marking;
determine whether the second color information detected by the second sensor is the color of the lane marking when the first color information detected by the first sensor is not the color of the lane marking; and
correct a moving direction of the mobile warning triangle to a first direction by a first predetermined angle to continue moving forward when the second color information detected by the second sensor is the color of the lane marking.

12. The mobile warning triangle of claim 11 , wherein the at least one processor is further to:
correct the moving direction of the mobile warning triangle to a second direction by a second predetermined angle to continue moving forward when the second color information detected by the second sensor is not the color of the lane marking; and
wherein an included angle between the first direction and the second direction is 180 degrees.

13. The mobile warning triangle of claim 12 , wherein the at least one processor is further to:
perform a direction correction of a reverse mode on the mobile warning triangle when the mobile warning triangle moves a predetermined distance and the first sensor fails to detect the lane marking again; and
wherein, in the reverse mode, the current correction method of the mobile warning triangle is opposite to the last correction method.

14. The mobile warning triangle of claim 11 , wherein the at least one processor is further to:
perform a direction correction of a reverse mode on the mobile warning triangle when the mobile warning triangle moves a predetermined distance and the first sensor fails to detect the lane marking again; and
wherein, in the reverse mode, the current correction method of the mobile warning triangle is opposite to the last correction method.

15. The mobile warning triangle of claim 11 , wherein the mobile warning triangle further comprises a third sensor, the first sensor is arranged between the second sensor and the third sensor, the at least one processor is further to:
determine whether third color information detected by the third sensor is the color of the lane marking when the second color information detected by th

Assignees

• Fulian Prec Electronics Tianjin Co Ltd

Inventors

• Chien Yu-Ching
• Tseng Chuang-Wei

Classifications

• B60Q7/00

  Arrangement or adaptation of portable emergency signal devices on vehicles · CPC title

• G06V20/588

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• G05D1/0234 Primary

  using optical markers or beacons (optical beacons per se G01S1/70) · CPC title

• G06V10/56

  relating to colour · CPC title

• G05D1/0246

  using a video camera in combination with image processing means · CPC title